Your description of the problem is classic for a bent shift fork. Call a couple dealers and get a base cost for the repairs. It would be best if you take the bike to a dealer and let them look at it to confirm my diagnosis and I think they will. A cost of $750 would not surprise me. The costly thing about changing a shift fork is that the engine comes out of the frame and then gets a complete tear down, both top end and bottom end. Now the fork can be changed out then engine / transmission re-assembly begins. This is not a recommended repair for the novice mechanic. Please rate my answer. Thanks.
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